FreeRTOS-Kernel/FreeRTOS/Demo/PIC32MZ_MPLAB/main.c

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * This project provides two demo applications.  A simple blinky style project,
 * and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
 * select between the two.  The simply blinky demo is implemented and described
 * in main_blinky.c.  The more comprehensive test and demo application is
 * implemented and described in main_full.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup and FreeRTOS hook functions.
 */

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Standard demo includes. */
#include "partest.h"
#include "QueueOverwrite.h"
#include "QueueSet.h"
#include "EventGroupsDemo.h"

/* Hardware specific includes. */
#include "ConfigPerformance.h"

/* Core configuration fuse settings */
#if defined( __32MZ2048ECM144 ) || defined( __32MZ2048ECH144 )
    #pragma config FMIIEN = OFF, FETHIO = OFF, PGL1WAY = OFF, PMDL1WAY = OFF, IOL1WAY = OFF, FUSBIDIO = OFF
    #pragma config FNOSC = SPLL, FSOSCEN = OFF, IESO = OFF, POSCMOD = EC
    #pragma config OSCIOFNC = OFF, FCKSM = CSECMD, FWDTEN = OFF, FDMTEN = OFF
    #pragma config DMTINTV = WIN_127_128, WDTSPGM = STOP, WINDIS= NORMAL
    #pragma config WDTPS = PS1048576, FWDTWINSZ = WINSZ_25, DMTCNT = DMT31
    #pragma config FPLLIDIV = DIV_3, FPLLRNG = RANGE_13_26_MHZ, FPLLICLK = PLL_POSC
    #pragma config FPLLMULT = MUL_50, FPLLODIV = DIV_2, UPLLFSEL = FREQ_12MHZ, UPLLEN = OFF
    #pragma config EJTAGBEN = NORMAL, DBGPER = PG_ALL, FSLEEP = OFF, FECCCON = OFF_UNLOCKED
    #pragma config BOOTISA = MIPS32, TRCEN = ON, ICESEL = ICS_PGx2, JTAGEN = OFF, DEBUG = ON
    #pragma config CP = OFF
#elif defined( __32MZ2048EFM144 ) || defined( __32MZ2048EFH144 )
    #pragma config FMIIEN = OFF, FETHIO = OFF, PGL1WAY = OFF, PMDL1WAY = OFF, IOL1WAY = OFF, FUSBIDIO = OFF
    #pragma config FNOSC = SPLL, FSOSCEN = OFF, IESO = OFF, POSCMOD = EC
    #pragma config OSCIOFNC = OFF, FCKSM = CSECMD, FWDTEN = OFF, FDMTEN = OFF
    #pragma config DMTINTV = WIN_127_128, WDTSPGM = STOP, WINDIS= NORMAL
    #pragma config WDTPS = PS1048576, FWDTWINSZ = WINSZ_25, DMTCNT = DMT31
    #pragma config FPLLIDIV = DIV_3, FPLLRNG = RANGE_13_26_MHZ, FPLLICLK = PLL_POSC
    #pragma config FPLLMULT = MUL_50, FPLLODIV = DIV_2, UPLLFSEL = FREQ_12MHZ
    #pragma config EJTAGBEN = NORMAL, DBGPER = PG_ALL, FSLEEP = OFF, FECCCON = OFF_UNLOCKED
    #pragma config BOOTISA = MIPS32, TRCEN = ON, ICESEL = ICS_PGx2, JTAGEN = OFF, DEBUG = ON
    #pragma config CP = OFF
#endif /* if defined( __32MZ2048ECM144 ) || defined( __32MZ2048ECH144 ) */

/*-----------------------------------------------------------*/

/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
 * or 0 to run the more comprehensive test and demo application. */
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY    0

/*-----------------------------------------------------------*/

/*
 * Set up the hardware ready to run this demo.
 */
static void prvSetupHardware( void );

/*
 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
 */
extern void main_blinky( void );
extern void main_full( void );

/*-----------------------------------------------------------*/

/*
 * Create the demo tasks then start the scheduler.
 */
int main( void )
{
    /* Prepare the hardware to run this demo. */
    prvSetupHardware();

    /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
     * of this file. */
    #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
    {
        main_blinky();
    }
    #else
    {
        main_full();
    }
    #endif

    return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    /* Configure the hardware for maximum performance. */
    vHardwareConfigurePerformance();

    /* Setup to use the external interrupt controller. */
    vHardwareUseMultiVectoredInterrupts();

    portDISABLE_INTERRUPTS();

    /* Setup the digital IO for the LED's. */
    vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
    /* vApplicationMallocFailedHook() will only be called if
     * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
     * function that will get called if a call to pvPortMalloc() fails.
     * pvPortMalloc() is called internally by the kernel whenever a task, queue,
     * timer or semaphore is created.  It is also called by various parts of the
     * demo application.  If heap_1.c or heap_2.c are used, then the size of the
     * heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
     * FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
     * to query the size of free heap space that remains (although it does not
     * provide information on how the remaining heap might be fragmented). */
    taskDISABLE_INTERRUPTS();

    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
     * to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
     * task.  It is essential that code added to this hook function never attempts
     * to block in any way (for example, call xQueueReceive() with a block time
     * specified, or call vTaskDelay()).  If the application makes use of the
     * vTaskDelete() API function (as this demo application does) then it is also
     * important that vApplicationIdleHook() is permitted to return to its calling
     * function, because it is the responsibility of the idle task to clean up
     * memory allocated by the kernel to any task that has since been deleted. */
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask,
                                    char * pcTaskName )
{
    ( void ) pcTaskName;
    ( void ) pxTask;

    /* Run time task stack overflow checking is performed if
     * configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook	function is
     * called if a task stack overflow is detected.  Note the system/interrupt
     * stack is not checked. */
    taskDISABLE_INTERRUPTS();

    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
    /* This function will be called by each tick interrupt if
    * configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
    * added here, but the tick hook is called from an interrupt context, so
    * code must not attempt to block, and only the interrupt safe FreeRTOS API
    * functions can be used (those that end in FromISR()). */

    #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
    {
        /* Call the periodic queue overwrite from ISR demo. */
        vQueueOverwritePeriodicISRDemo();

        /* Call the queue set ISR test function. */
        vQueueSetAccessQueueSetFromISR();

        /* Exercise event groups from interrupts. */
        vPeriodicEventGroupsProcessing();
    }
    #endif /* if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 ) */
}
/*-----------------------------------------------------------*/

extern void vAssertCalled( const char * pcFile,
                           unsigned long ulLine )
{
    volatile char * pcFileName;
    volatile unsigned long ulLineNumber;

    /* Prevent things that are useful to view in the debugger from being
     * optimised away. */
    pcFileName = ( char * ) pcFile;
    ( void ) pcFileName;
    ulLineNumber = ulLine;

    /* Set ulLineNumber to 0 in the debugger to break out of this loop and
     * return to the line that triggered the assert. */
    while( ulLineNumber != 0 )
    {
        __asm volatile ( "NOP" );
        __asm volatile ( "NOP" );
        __asm volatile ( "NOP" );
        __asm volatile ( "NOP" );
        __asm volatile ( "NOP" );
    }
}
/*-----------------------------------------------------------*/

/* This function overrides the normal _weak_ generic handler. */
void _general_exception_handler( void )
{
    static enum
    {
        EXCEP_IRQ = 0,    /* interrupt */
        EXCEP_AdEL = 4,   /* address error exception (load or ifetch) */
        EXCEP_AdES,       /* address error exception (store) */
        EXCEP_IBE,        /* bus error (ifetch) */
        EXCEP_DBE,        /* bus error (load/store) */
        EXCEP_Sys,        /* syscall */
        EXCEP_Bp,         /* breakpoint */
        EXCEP_RI,         /* reserved instruction */
        EXCEP_CpU,        /* coprocessor unusable */
        EXCEP_Overflow,   /* arithmetic overflow */
        EXCEP_Trap,       /* trap (possible divide by zero) */
        EXCEP_FPE = 15,   /* floating point exception */
        EXCEP_IS1 = 16,   /* implementation specific 1 */
        EXCEP_CEU,        /* CorExtend Unuseable */
        EXCEP_C2E,        /* coprocessor 2 */
        EXCEP_DSPDis = 26 /* DSP module disabled */
    }
    _excep_code;

    static unsigned long _epc_code;
    static unsigned long _excep_addr;

    asm volatile ( "mfc0 %0,$13" : "=r" ( _epc_code ) );
    asm volatile ( "mfc0 %0,$14" : "=r" ( _excep_addr ) );

    _excep_code = ( _epc_code & 0x0000007C ) >> 2;

    for( ; ; )
    {
        /* prevent compiler warning */
        ( void ) _excep_code;

        /* Examine _excep_code to identify the type of exception.  Examine
         * _excep_addr to find the address that caused the exception */
        LATHSET = 0x0007;
        Nop();
        Nop();
        Nop();
    }
}
/*-----------------------------------------------------------*/